CN108599845A - Industrial robot fault detection method based on visible light communication - Google Patents
Industrial robot fault detection method based on visible light communication Download PDFInfo
- Publication number
- CN108599845A CN108599845A CN201810097077.3A CN201810097077A CN108599845A CN 108599845 A CN108599845 A CN 108599845A CN 201810097077 A CN201810097077 A CN 201810097077A CN 108599845 A CN108599845 A CN 108599845A
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- CN
- China
- Prior art keywords
- robot
- signal
- fault detection
- memory
- led light
- Prior art date
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- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 title claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract description 21
- 230000002159 abnormal effect Effects 0.000 claims abstract description 4
- 238000004321 preservation Methods 0.000 claims abstract description 4
- 230000001960 triggered effect Effects 0.000 abstract 1
- 238000003745 diagnosis Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004020 luminiscence type Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010181 polygamy Effects 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0066—Means or methods for maintaining or repairing manipulators
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/502—LED transmitters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/60—Receivers
- H04B10/61—Coherent receivers
- H04B10/616—Details of the electronic signal processing in coherent optical receivers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/60—Receivers
- H04B10/66—Non-coherent receivers, e.g. using direct detection
- H04B10/69—Electrical arrangements in the receiver
- H04B10/697—Arrangements for reducing noise and distortion
- H04B10/6971—Arrangements for reducing noise and distortion using equalisation
Abstract
The present invention relates to robot fault detection technique field more particularly to a kind of industrial robot fault detection methods based on visible light communication, include the following steps：Step 1: control LED light normal work, light is acted in the robot of normal work；Step 2: being received the optical signal in robot using receiver, preserved in memory after being converted to digital signal, as standard signal；Step 3: robot works normally, LED light acts in robot, receiver receives optical signal, while calling the signal originally preserved in memory, and practical received signal is compared with the signal of preservation in memory, if identical, then indicate that robot works on, if different without abnormal, interruption is then triggered, allows periods of robot operation stop.The accurate, stable of industry spot robot fault detection may be implemented, while the LED light of low price can also substantially reduce industrial robot fault detect cost.
Description
Technical field
The present invention relates to robot fault detection technique field more particularly to a kind of industrial machines based on visible light communication
People's fault detection method.
Background technology
With the continuous development of Robot industry, more and more enterprises introduce industrial robot, and robot is answered
Polygamy is consequently increased, and the reliability of robot system is caused to become more and more important, so for industrial robot failure
Diagnosis also becomes particularly important.Traditional industrial robot failure diagnosis mode has component self diagnosis, this clearance software diagnosis,
It is carried out by self-diagnosable system after robot powers on, also system diagnostics, i.e., detects failure during the work time
And interruption of work.And in system diagnostics, there is worker to check in real time, infrared diagnosis, circuit diagnostics etc..Traditional diagnostic system knot
Structure is complicated, of high cost.
Invention content
It is an object of the invention to overcome the shortcomings of above-mentioned technology, and provide a kind of industrial machine based on visible light communication
People's fault detection method.
The present invention to achieve the above object, using following technical scheme：
A kind of industrial robot fault detection method based on visible light communication, it is characterised in that：Include the following steps：Step
Rapid one, control LED light normal work, light is acted in the robot of normal work；
Step 2: being received the optical signal in robot using receiver, preserved after being converted to digital signal
In memory, as standard signal；
Step 3: robot works normally, LED light acts in robot, and receiver receives optical signal, while calling original
Signal in memory has first been preserved, practical received signal has been compared with the signal of preservation in memory, if phase
Together, then it represents that without abnormal, robot works on, if it is different, then trigger interruption, allows periods of robot operation stop.
Preferably, it when calling memory signals, need to be called every time to participate in the first signal compared, the signal compared
It is not required to call again, a cycle compares completion and then enters next cycle, so recycles.
The beneficial effects of the invention are as follows:Compared with the existing technology, this method is mainly using a kind of compared with standard signal
Method, wherein standard signal are that collected optical signal after treatment, is saved in and deposits when being worked normally by advance robot
In reservoir.And comparison signal is then the collected optical signal under the robot working condition during real-time collecting work, it will
Actual acquisition to optical signal compared with the signal pre-saved in memory, indicated if identical robot work just
Often, it indicates that robot work is broken down if different, needs the work for interrupting robot at this time.Industry spot machine may be implemented
Accurate, the stabilization of device people's fault detect, while the LED light of low price can also substantially reduce industrial robot fault detect cost.
Description of the drawings
Fig. 1 is the circuit diagram of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and the preferred embodiment specific implementation mode that the present invention will be described in detail.As shown in Figure 1, a kind of base
In the industrial robot fault detection method of visible light communication, including LED light and optical signal receiver, the LED light fills for LED
It includes optical emitting module and microprocessor module to adorn lamp or headlamp, LED light, and wherein microprocessor module will be according to industry
The specific industry action of situ machine people, designs corresponding transmitting information, when realizing robot fault, alarms, and machine
Device people the effect that do not alarm in the event of failure.In addition optical emitting module includes driving unit and luminescence unit, driving unit
For driving luminescence unit.Meanwhile LED light will include also code conversion module, to the digital signal of microprocessor output
Code system transformation.Code conversion module includes sample circuit, decision circuit, reverse circuit, negative circuit, switching circuit and synthesis electricity
Road, sample circuit, decision circuit and reverse circuit are sequentially connected with, and negative circuit, switching circuit and combiner circuit are sequentially connected with；It adopts
Sample circuit is electrically connected with microprocessor module, and sample circuit and negative circuit are electrically connected with bit synchronization signal input point, switch
Circuit is electrically connected with decision circuit, and combiner circuit is electrically connected with reverse circuit.
Microprocessor module is provided with carries out coding and encrypted microprocessor, microprocessor for the information to output
Microcontroller may be used to realize.
Optical signal receiver includes optical signal receiving module and decoding module, and optical signal receiving module is for sending out LED light
Incoming optical signal is converted into electric signal；Decoding module is for translating the digital signal that optical signal receiving module receives
Code.Decoding module includes high-low-position split circuit and decoding operation circuit, high-low-position point of the high-low-position split circuit for signal
From, decoding operation circuit for high-low-position with or operation.
Optical signal receiver further includes balanced Shaping Module, what balanced Shaping Module was used to export optical signal receiving module
Signal carries out eliminating intersymbol interference and corrects impulse waveform.
It is followed the steps below when detection, Step 1: control LED light normal work, normal work is acted on by light
Robot on；
Step 2: being received the optical signal in robot using receiver, preserved after being converted to digital signal
In memory, as standard signal；
Step 3: robot works normally, LED light acts in robot, and receiver receives optical signal, while calling original
Signal in memory has first been preserved, practical received signal has been compared with the signal of preservation in memory, if phase
Together, then it represents that without abnormal, robot works on, if it is different, then trigger interruption, allows periods of robot operation stop.Call storage
When device signal, need to be called every time to participate in the first signal compared, the signal compared is not required to call again, a cycle ratio
Compared with completing and then entering next cycle, so recycle.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (2)
1. a kind of industrial robot fault detection method based on visible light communication, it is characterised in that：Include the following steps：Step
One, control LED light normal work, light is acted in the robot of normal work；
Step 2: received the optical signal in robot using receiver, is converted to be stored in after digital signal and deposit
In reservoir, as standard signal；
Step 3: robot works normally, LED light acts in robot, and receiver receives optical signal, while calling originally
Signal in memory is preserved, practical received signal is compared with the signal of preservation in memory, if identical,
It indicates that robot works on without abnormal, if it is different, then trigger interruption, allows periods of robot operation stop.
2. the industrial robot fault detection method according to claim 1 based on visible light communication, it is characterised in that：It adjusts
When with memory signals, need to be called every time to participate in the first signal compared, the signal compared is not required to call again, one
Period compares completion and then enters next cycle, so recycles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097077.3A CN108599845A (en) | 2018-01-31 | 2018-01-31 | Industrial robot fault detection method based on visible light communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097077.3A CN108599845A (en) | 2018-01-31 | 2018-01-31 | Industrial robot fault detection method based on visible light communication |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108599845A true CN108599845A (en) | 2018-09-28 |
Family
ID=63608745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810097077.3A Pending CN108599845A (en) | 2018-01-31 | 2018-01-31 | Industrial robot fault detection method based on visible light communication |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108599845A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692873A (en) * | 2020-12-07 | 2021-04-23 | 中国计量大学 | Robot abnormity detection device and detection method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5331232A (en) * | 1992-05-14 | 1994-07-19 | Storage Technology Corporation | On-the-fly position calibration of a robotic arm |
| US20120283873A1 (en) * | 2011-05-03 | 2012-11-08 | Canh Le | System for auto-diagnostics of robotic manipulator |
| CN107150358A (en) * | 2017-07-11 | 2017-09-12 | 孙成波 | A kind of robot fault investigation detecting system and method |
| CN107209003A (en) * | 2015-02-13 | 2017-09-26 | 思想外科有限公司 | For robot calibration and the laser measuring apparatus of monitoring |
-
2018
- 2018-01-31 CN CN201810097077.3A patent/CN108599845A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5331232A (en) * | 1992-05-14 | 1994-07-19 | Storage Technology Corporation | On-the-fly position calibration of a robotic arm |
| US20120283873A1 (en) * | 2011-05-03 | 2012-11-08 | Canh Le | System for auto-diagnostics of robotic manipulator |
| CN107209003A (en) * | 2015-02-13 | 2017-09-26 | 思想外科有限公司 | For robot calibration and the laser measuring apparatus of monitoring |
| CN107150358A (en) * | 2017-07-11 | 2017-09-12 | 孙成波 | A kind of robot fault investigation detecting system and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692873A (en) * | 2020-12-07 | 2021-04-23 | 中国计量大学 | Robot abnormity detection device and detection method |
| CN112692873B (en) * | 2020-12-07 | 2022-05-17 | 中国计量大学 | Robot abnormity detection device and detection method |
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Application publication date: 20180928 |